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针对一种用于飞机外表面清洗的4R1P型机械臂,采用拉格朗日法建立动力学模型。通过MATLAB对动力学方程各项进行模块化编程,仿真结果得到各关节所需力矩。在计算其他串联机械臂时,仅需替换模块化程序中的变换矩阵,再输入机械臂连杆参数及关节驱动参数,即可得到关节力矩,因此,该方法对其他多自由度串联机器人的动力学求解具有一定的通用性。
For a 4R1P robot used to clean the outer surface of aircraft, the dynamic model was established by Lagrange method. Modular programming of dynamic equations through MATLAB, the simulation results obtained by the joints of the required torque. When calculating other tandem manipulators, the joint torque can be obtained by simply replacing the transformation matrix in the modular program, and then inputting the manipulator link parameters and joint drive parameters. Therefore, this method can simulate the dynamics of other multi-degree-of-freedom series robots Learning to solve has a certain versatility.